To provide a control device that allows the escape of a vehicle which has stuck unavoidably, and to which a conventional control method of only one direction such as driving torque suppression control is ineffective, by a new means.

A stuck vehicle is firstly forward-driven (S102). If a vehicle-body moving-state determining means determines that there is no rising of the forward-movement pulse (S106), it is switched to backward drive (S108) and the vehicle is backwardly moved. Similarly, if there is no rising of the backward-movement pulse (S110), it is returned to S102 and the vehicle is forward-driven.